﻿<?xml version="1.0" encoding="utf-8"?>
<SimulationState xmlns:s="http://www.w3.org/2003/05/soap-envelope" xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" xmlns:d="http://schemas.microsoft.com/xw/2004/10/dssp.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulation.html">
  <Gravity>
    <X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>
    <Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">-9.81</Y>
    <Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</Z>
  </Gravity>
  <RenderMode>Full</RenderMode>
  <FramesPerSecond>48.6709976</FramesPerSecond>
  <Pause>false</Pause>
  <CameraPosition>
    <X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>
    <Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">8.75</Y>
    <Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</Z>
  </CameraPosition>
  <CameraLookAt>
    <X xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</X>
    <Y xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">-2.75</Y>
    <Z xmlns="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html">0</Z>
  </CameraLookAt>
  <CameraFieldOfView>0.781</CameraFieldOfView>
  <CameraNearPlane>0.1</CameraNearPlane>
  <CameraFarPlane>5000</CameraFarPlane>
  <Lights />
  <SerializedEntities>
    <SkyDomeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>Sky</sim:Name>
        <sim:Assets>
          <sim:Effect>SkyDome.fx</sim:Effect>
        </sim:Assets>
        <sim:Pose>
          <physm:Position>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
            <physm:W>1</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>0</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>None</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <VisualTexture>skydome.dds</VisualTexture>
      <LightingTexture>sky_diff.dds</LightingTexture>
      <FogColor>
        <physm:Red>0.85</physm:Red>
        <physm:Green>0.85</physm:Green>
        <physm:Blue>1</physm:Blue>
        <physm:Alpha>1</physm:Alpha>
      </FogColor>
      <FogStart>100</FogStart>
      <FogEnd>1000</FogEnd>
    </SkyDomeEntity>
    <LightSourceEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>Sun</sim:Name>
        <sim:Assets />
        <sim:Pose>
          <physm:Position>
            <physm:X>0</physm:X>
            <physm:Y>1</physm:Y>
            <physm:Z>0</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>-0.260956466</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0.260956466</physm:Z>
            <physm:W>0.9294103</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>0</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>DisableRendering</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <Type>Directional</Type>
      <Color>
        <physm:X>0.8</physm:X>
        <physm:Y>0.8</physm:Y>
        <physm:Z>0.8</physm:Z>
        <physm:W>1</physm:W>
      </Color>
      <SpotUmbra>90</SpotUmbra>
      <FalloffStart>0</FalloffStart>
      <FalloffEnd>30</FalloffEnd>
      <CastsShadows>false</CastsShadows>
    </LightSourceEntity>
    <HeightFieldEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>simple ground</sim:Name>
        <sim:Assets>
          <sim:DefaultTexture>03RamieSc.dds</sim:DefaultTexture>
        </sim:Assets>
        <sim:Pose>
          <physm:Position>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
            <physm:W>1</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>0</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>Ground</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <HeightFieldShape>
        <phys:HeightFieldState>
          <phys:Name>simple ground</phys:Name>
          <phys:ShapeId>HeightField</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0</phys:Radius>
          <phys:Material>
            <phys:Name>ground</phys:Name>
            <phys:Restitution>0.2</phys:Restitution>
            <phys:DynamicFriction>0.5</phys:DynamicFriction>
            <phys:StaticFriction>0.5</phys:StaticFriction>
            <phys:MaterialIndex>2</phys:MaterialIndex>
          </phys:Material>
          <phys:MassDensity>
            <phys:Mass>0</phys:Mass>
            <phys:InertiaTensor>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:InertiaTensor>
            <phys:CenterOfMass>
              <physm:Position>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </physm:Position>
              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>0</physm:W>
              </physm:Orientation>
            </phys:CenterOfMass>
            <phys:Density>0</phys:Density>
            <phys:LinearDamping>0</phys:LinearDamping>
            <phys:AngularDamping>0</phys:AngularDamping>
          </phys:MassDensity>
          <phys:LocalPose>
            <physm:Position>
              <physm:X>-4000</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>-4000</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>1</physm:W>
            </physm:Orientation>
          </phys:LocalPose>
          <phys:TextureFileName />
          <phys:DiffuseColor>
            <physm:X>0.5</physm:X>
            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
            <physm:W>1</physm:W>
          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
          <phys:HeightScale>1</phys:HeightScale>
          <phys:RowScale>1000</phys:RowScale>
          <phys:ColumnScale>1000</phys:ColumnScale>
          <phys:MaterialIndexHigh>0</phys:MaterialIndexHigh>
          <phys:HoleMaterialIndex>0</phys:HoleMaterialIndex>
          <phys:ColumnCount>8</phys:ColumnCount>
          <phys:RowCount>8</phys:RowCount>
          <phys:VerticalExtent>-1000</phys:VerticalExtent>
          <phys:ConvexEdgeThreshold>0</phys:ConvexEdgeThreshold>
          <phys:TextureUScale>1000</phys:TextureUScale>
          <phys:TextureVScale>1000</phys:TextureVScale>
        </phys:HeightFieldState>
      </HeightFieldShape>
    </HeightFieldEntity>
    <SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>top</sim:Name>
        <sim:Assets />
        <sim:Pose>
          <physm:Position>
            <physm:X>-2.17563937E-07</physm:X>
            <physm:Y>0.499000043</physm:Y>
            <physm:Z>3.75000763</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>2.45596059E-08</physm:X>
            <physm:Y>-7.31726061E-07</physm:Y>
            <physm:Z>-8.84369E-10</physm:Z>
            <physm:W>1</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>10000</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>None</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <BoxShape>
        <phys:BoxState>
          <phys:Name>bottom/top</phys:Name>
          <phys:ShapeId>Box</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>6.5</physm:X>
            <physm:Y>1</physm:Y>
            <physm:Z>1</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0</phys:Radius>
          <phys:MassDensity>
            <phys:Mass>10000</phys:Mass>
            <phys:InertiaTensor>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:InertiaTensor>
            <phys:CenterOfMass>
              <physm:Position>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </physm:Position>
              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>0</physm:W>
              </physm:Orientation>
            </phys:CenterOfMass>
            <phys:Density>0</phys:Density>
            <phys:LinearDamping>0</phys:LinearDamping>
            <phys:AngularDamping>0</phys:AngularDamping>
          </phys:MassDensity>
          <phys:LocalPose>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>1</physm:W>
            </physm:Orientation>
          </phys:LocalPose>
          <phys:TextureFileName />
          <phys:DiffuseColor>
            <physm:X>0.5</physm:X>
            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
            <physm:W>1</physm:W>
          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
        </phys:BoxState>
      </BoxShape>
    </SingleShapeEntity>
    <SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>bottom</sim:Name>
        <sim:Assets />
        <sim:Pose>
          <physm:Position>
            <physm:X>-2.9239251E-08</physm:X>
            <physm:Y>0.499000043</physm:Y>
            <physm:Z>-3.74999976</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>4.03043536E-08</physm:X>
            <physm:Y>4.078192E-08</physm:Y>
            <physm:Z>-4.97766E-09</physm:Z>
            <physm:W>1</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>10000</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>None</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <BoxShape>
        <phys:BoxState>
          <phys:Name>bottom/top</phys:Name>
          <phys:ShapeId>Box</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>6.5</physm:X>
            <physm:Y>1</physm:Y>
            <physm:Z>1</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0</phys:Radius>
          <phys:MassDensity>
            <phys:Mass>10000</phys:Mass>
            <phys:InertiaTensor>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:InertiaTensor>
            <phys:CenterOfMass>
              <physm:Position>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </physm:Position>
              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>0</physm:W>
              </physm:Orientation>
            </phys:CenterOfMass>
            <phys:Density>0</phys:Density>
            <phys:LinearDamping>0</phys:LinearDamping>
            <phys:AngularDamping>0</phys:AngularDamping>
          </phys:MassDensity>
          <phys:LocalPose>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>1</physm:W>
            </physm:Orientation>
          </phys:LocalPose>
          <phys:TextureFileName />
          <phys:DiffuseColor>
            <physm:X>0.5</physm:X>
            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
            <physm:W>1</physm:W>
          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
        </phys:BoxState>
      </BoxShape>
    </SingleShapeEntity>
    <SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>left</sim:Name>
        <sim:Assets />
        <sim:Pose>
          <physm:Position>
            <physm:X>3.74979544</physm:X>
            <physm:Y>0.499</physm:Y>
            <physm:Z>-2.300916E-05</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>-3.544632E-09</physm:X>
            <physm:Y>1.870743E-05</physm:Y>
            <physm:Z>-3.204338E-08</physm:Z>
            <physm:W>1</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>10000</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>None</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <BoxShape>
        <phys:BoxState>
          <phys:Name>right/left</phys:Name>
          <phys:ShapeId>Box</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>1</physm:X>
            <physm:Y>1</physm:Y>
            <physm:Z>7.5</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0</phys:Radius>
          <phys:MassDensity>
            <phys:Mass>10000</phys:Mass>
            <phys:InertiaTensor>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:InertiaTensor>
            <phys:CenterOfMass>
              <physm:Position>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </physm:Position>
              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>0</physm:W>
              </physm:Orientation>
            </phys:CenterOfMass>
            <phys:Density>0</phys:Density>
            <phys:LinearDamping>0</phys:LinearDamping>
            <phys:AngularDamping>0</phys:AngularDamping>
          </phys:MassDensity>
          <phys:LocalPose>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>1</physm:W>
            </physm:Orientation>
          </phys:LocalPose>
          <phys:TextureFileName />
          <phys:DiffuseColor>
            <physm:X>0.5</physm:X>
            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
            <physm:W>1</physm:W>
          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
        </phys:BoxState>
      </BoxShape>
    </SingleShapeEntity>
    <SingleShapeEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
      <sim:State>
        <sim:Name>right</sim:Name>
        <sim:Assets />
        <sim:Pose>
          <physm:Position>
            <physm:X>-3.74999952</physm:X>
            <physm:Y>0.498999983</physm:Y>
            <physm:Z>-6.376801E-09</physm:Z>
          </physm:Position>
          <physm:Orientation>
            <physm:X>-1.2839575E-09</physm:X>
            <physm:Y>-1.43445362E-08</physm:Y>
            <physm:Z>-3.403053E-08</physm:Z>
            <physm:W>1</physm:W>
          </physm:Orientation>
        </sim:Pose>
        <sim:Velocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:Velocity>
        <sim:AngularVelocity>
          <physm:X>0</physm:X>
          <physm:Y>0</physm:Y>
          <physm:Z>0</physm:Z>
        </sim:AngularVelocity>
        <sim:MassDensity>
          <phys:Mass>10000</phys:Mass>
          <phys:InertiaTensor>
            <physm:X>0</physm:X>
            <physm:Y>0</physm:Y>
            <physm:Z>0</physm:Z>
          </phys:InertiaTensor>
          <phys:CenterOfMass>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>0</physm:W>
            </physm:Orientation>
          </phys:CenterOfMass>
          <phys:Density>0</phys:Density>
          <phys:LinearDamping>0</phys:LinearDamping>
          <phys:AngularDamping>0</phys:AngularDamping>
        </sim:MassDensity>
        <sim:Flags>Dynamic</sim:Flags>
      </sim:State>
      <Flags>None</Flags>
      <ChildCount>0</ChildCount>
      <ReferenceFrame>Global</ReferenceFrame>
      <MeshScale>
        <physm:X>1</physm:X>
        <physm:Y>1</physm:Y>
        <physm:Z>1</physm:Z>
      </MeshScale>
      <MeshRotation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshRotation>
      <MeshTranslation>
        <physm:X>0</physm:X>
        <physm:Y>0</physm:Y>
        <physm:Z>0</physm:Z>
      </MeshTranslation>
      <BoxShape>
        <phys:BoxState>
          <phys:Name>right/left</phys:Name>
          <phys:ShapeId>Box</phys:ShapeId>
          <phys:Dimensions>
            <physm:X>1</physm:X>
            <physm:Y>1</physm:Y>
            <physm:Z>7.5</physm:Z>
          </phys:Dimensions>
          <phys:Radius>0</phys:Radius>
          <phys:MassDensity>
            <phys:Mass>10000</phys:Mass>
            <phys:InertiaTensor>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </phys:InertiaTensor>
            <phys:CenterOfMass>
              <physm:Position>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
              </physm:Position>
              <physm:Orientation>
                <physm:X>0</physm:X>
                <physm:Y>0</physm:Y>
                <physm:Z>0</physm:Z>
                <physm:W>0</physm:W>
              </physm:Orientation>
            </phys:CenterOfMass>
            <phys:Density>0</phys:Density>
            <phys:LinearDamping>0</phys:LinearDamping>
            <phys:AngularDamping>0</phys:AngularDamping>
          </phys:MassDensity>
          <phys:LocalPose>
            <physm:Position>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
            </physm:Position>
            <physm:Orientation>
              <physm:X>0</physm:X>
              <physm:Y>0</physm:Y>
              <physm:Z>0</physm:Z>
              <physm:W>1</physm:W>
            </physm:Orientation>
          </phys:LocalPose>
          <phys:TextureFileName />
          <phys:DiffuseColor>
            <physm:X>0.5</physm:X>
            <physm:Y>0.5</physm:Y>
            <physm:Z>0.5</physm:Z>
            <physm:W>1</physm:W>
          </phys:DiffuseColor>
          <phys:EnableContactNotifications>false</phys:EnableContactNotifications>
        </phys:BoxState>
      </BoxShape>
    </SingleShapeEntity>
  </SerializedEntities>
</SimulationState>